1. Research on the Monocular 3D Perception System for Autonomous-rail Rapid Tram
- Author
-
WANG Zeyuan, LIN Jun, YUAN Xiwen, XU Yanghan, YUE Wei, and XIONG Qunfang
- Subjects
autonomous-rail rapid tram ,automatic driving ,visual perception ,attention mechanism ,object detection ,monocular 3d algorithm ,model deployment ,Control engineering systems. Automatic machinery (General) ,TJ212-225 ,Technology - Abstract
The 3D perception system functions as one of the core components for the safe operation of autonomous-rail rapid tram. Addressing the limitations of LiDAR systems used for autonomous-rail rapid tram in complex urban environments, such as challenges in perceiving distant objects, insensitivity to color, and potential failure, this paper proposes a pure-vision monocular 3D perception system for autonomous-rail rapid tram. Comprising data preprocessing, model training and model deployment, this vision-based scheme with a full coverage from data collection to on-board deployment enables the 3D perception of obstacles around autonomous-rail rapid tram, thereby improving the operational reliability in complex urban environments. The test results based on the autonomous-rail rapid transit dataset and Waymo open dataset show that the system can effectively perceive the complex road scenes in autonomous-rail rapid transit, achieving a final 3D average precision (AP) of 0.53, reasoning a single-frame of image about 56 ms, and meeting the real-time requirements of autonomous-rail rapid tram for the obstacle perception algorithm.
- Published
- 2023
- Full Text
- View/download PDF